In ALAudioPlayer module

• Play function: does not unload the played file anymore. After playing a file with this function, you need to unload it manually using the unloadFile function.

AudioPlayer = ALProxy("ALAudioPlayer",RobotIP, Port)
fileId = AudioPlayer.loadFile("/home/nao/MyAudioFile.wav")
AudioPlayer.play(fileId)
fileId = AudioPlayer.loadFile("/home/nao/MyAudioFile.wav")
AudioPlayer.play(fileId)

AudioPlayer = ALProxy("ALAudioPlayer",RobotIP, Port)
fileId = AudioPlayer.loadFile("/home/nao/MyAudioFile.wav")
AudioPlayer.play(fileId)
AudioPlayer.play(fileId)
AudioPlayer.unloadFile(fileId)

In ALSoundDetection module

• setParameter(std::string detector, std::string parameter, float ALValue)

  • Use instead: setParameter(std::string parameter, float ALValue)

• threshold, dnoise and windowSize parameters

  • Use instead: Sensibility parameter

• ALValue getDescription(string detector, string type) and ALValue getEvents(string type)

  • Use instead: SoundDetected ALMemory key to collect the information

Box library

The folder, box names and boxes of the Choregraphe box library changed. The list of the name changes:

• Add/Del Faces > Add Faces / Remove Faces
• Arms Example > Wipe Forehead
• Demo Omni > Walk Toward
• Dispatcher > Switch Case
• Empty Timeline > Animation
• Goto And Play > Goto And Play (name) / Goto And Play (number)
• Goto And Stop > Goto And Stop (name) / Goto And Stop (number)
• Loop > For
• Multiplexer > Multi Edit
• Music > Play Sound
• Omniwalk (removed)
• Record > Record Sound
• Right Hand / Left Hand > Hand
• Say Text (removed)
• Set Language > Set Speech Lang. / Set Reco. Lang.
• Set Volume > Set Speaker Vol.
• Stiffness > Set Stiffness
• Sound Location > Sound Loc.
• Switch LEDs > Set LEDs
• Tactile Touch > Tactile Head

Tip: Use the Search tab of the box library to easily find the box you are looking for.

Script (deprecated API)

• self.log("string")

  • Use instead: self.logger.info("message string"), self.logger.error("error string"), etc for finer debugging

Compilation

• The templates used by the module generator have changed, the newly generated code is much better. We tried to keep backward compatibily, but it's not always possible.

• Libraries and directories:

  • all librairies are renamed with the prefix "al" added
  • reorganization of the include directories (the main changes required are listed bellow):

#include "alproxy.h"

#include <alcommon/alproxy.h>

• The alcommonfull (needed when your module is an ALExtractor) no longer exists, the alextractor library is to be used instead:

// In .h
#include "alextractor.h"
class MyExtractor: public AL::ALExtractor {
  ...
} ;

// In CMakeLists:
use_lib(myextractor ALCOMMONFULL)

// In .h
#include <alextractor/alextractor.h>

class MyExtractor: public AL::ALExtractor {
  ...
} ;

// In CMakeLists
use_lib(myextractor ALCOMMON ALEXTRACTOR)

• If you use memoryfastaccess, there are changes too (fast access was removed from alcommon):

// In .h
#include "almemoryfastaccess"

// In CMakeLists:
use_lib(mymodule ALCOMMON)

// In .h
#include <almemoryfastaccess/almemoryfastaccess.h>

// In CMakeLists:
use_lib(mymodule ALCOMMON ALMEMORY_FAST_ACCESS)

Vision

• Because GetImageLocal returns now a void* instead of an int formerly, we have to use a specific proxy for vision:

// In .h
AL::ALPtr<AL::ALProxy> xCamProxy;

// In .cpp
xCamProxy = ALPtr<ALProxy>();
...
xCamProxy = getParentBroker()->getProxy("ALVideoDevice");
...
ALImage* xptr_ALImageRaw = (ALImage*)AL::ALVideoDeviceProxy(fCamProxy->getParentBroker()).getImageLocal(xGvmName);

// In .h
#include <alvideodeviceproxy.h>
...
AL::ALPtr<AL::ALVideoDeviceProxy> xCamProxy;

// In .cpp
xCamProxy = ALPtr<AL::ALVideoDeviceProxy>();
...
ALPtr<ALVideoDeviceProxy>( new ALVideoDeviceProxy(getParentBroker()));
...
ALImage* xptr_ALImageRaw = (ALImage*)xCamProxy->getImageLocal(xGvmName);

• logoDetection: removed as it is only compatible with Aldebaran's former logo (with the ellipse).

ALBehaviorManager

• getBehaviorsLookupPath and setBehaviorsLookupPath are no longer available. The BehaviorsLookupPath cannot be changed.

DCM

• Infrared removed from the DCM as it is handled by the ALInfrared module.

AlRobotPose

A MicroEvent is generated when the robot pose changed. The ALMemory Key is robotPoseChanged, its a string corresponding to the actual robot Pose. Also some fast access Memory key are available: robotPose An integer in relation with the actual pose(use getPoseNames() to have a relation between int and string) robotPoseSince A float corresponding to the time[seconds] since the actual Pose is active.

std::string inertial = memoryProxy->getData("OrientationChanged", 0);

std::string inertial = robotPoseProxy->getData("robotPoseChanged", 0);

robotPoseChanged returns one of the following values: ["Unknown", "Stand", "Sit", "Crouch", "Knee", "Frog", "Back", "Belly", "Left", "Right", "HeadBack"]